448 lines
8.7 KiB
C++
448 lines
8.7 KiB
C++
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///////////////////////////////////////////////////////////////////////////
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//
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// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
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// Digital Ltd. LLC
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//
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following disclaimer
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// in the documentation and/or other materials provided with the
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// distribution.
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// * Neither the name of Industrial Light & Magic nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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///////////////////////////////////////////////////////////////////////////
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#include <testExtractSHRT.h>
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#include "ImathMatrixAlgo.h"
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#include "ImathEuler.h"
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#include "ImathRandom.h"
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#include "ImathFun.h"
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#include <iostream>
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#include <exception>
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#include <stdio.h>
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#include <assert.h>
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#if 0
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#define debug(x) (printf x, fflush (stdout))
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#else
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#define debug(x)
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#endif
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using namespace std;
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using namespace IMATH_INTERNAL_NAMESPACE;
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namespace {
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float rad (float deg) {return deg * (M_PI / 180);}
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float deg (float rad) {return rad * (180 / M_PI);}
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void
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testMatrix (const M33f M)
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{
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//
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// Extract the rotation angle from M, and convert the
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// angle back to a matrix, N.
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//
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V2f s, t;
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float h, r;
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extractSHRT (M, s, h, r, t, true);
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M33f N;
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N *= M33f().setScale (s);
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N *= M33f().setShear (h);
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N *= M33f().setRotation (r);
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N *= M33f().setTranslation (t);
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debug (("Re-scale: %f %f\n", s[0], s[1]));
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debug (("Re-shear: %f\n", h));
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debug (("Re-rot : %f\n", r));
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debug (("Re-trans: %f %f\n", t[0], t[1]));
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//
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// Verify that the entries in M and N do not
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// differ too much.
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//
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M33f D (M - N);
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for (int j = 0; j < 3; ++j)
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{
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for (int k = 0; k < 3; ++k)
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{
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if (abs (D[j][k]) > 0.00001)
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{
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cout << "unexpectedly large matrix to "
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"euler angles conversion error: " <<
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D[j][k] << endl;
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cout << j << " " << k << endl;
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cout << "M\n" << M << endl;
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cout << "N\n" << N << endl;
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cout << "D\n" << D << endl;
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assert (false);
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}
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}
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}
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}
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void
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testRandomAngles33 ()
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{
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Rand48 random(0);
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for (int i = 0; i < 100000; ++i)
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{
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debug (("iteration: %d\n", i));
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M33f M;
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//
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// Scale M.
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//
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V2f s (random.nextf (0.000001, 2.0),
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random.nextf (0.000001, 2.0));
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for (int j=0; j < 2; j++)
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if (random.nextf (0.0, 1.0) >= 0.5)
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s[j] *= -1;
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M *= M33f().setScale (s);
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//
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// Shear M.
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//
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float h = random.nextf (0.000001, 2.);
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if (random.nextf (0.0, 1.0) >= 0.5)
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h *= -1;
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M *= M33f().setShear (h);
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//
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// Rotate M.
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//
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float r = rad (random.nextf (-180, 180));
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M *= M33f().setRotation (r);
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//
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// Translate M.
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//
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V2f t (random.nextf (-10, 10),
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random.nextf (-10, 10));
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M *= M33f().setTranslation (t);
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//
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// Add a small random error to the elements of M
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//
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for (int j = 0; j < 3; ++j)
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for (int k = 0; k < 2; ++k)
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M[j][k] += random.nextf (-1e-7, 1e-7);
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debug (("Scale : %f %f\n", s[0], s[1]));
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debug (("Shear : %f\n", h));
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debug (("Rot : %f\n", r));
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debug (("Trans : %f %f\n", t[0], t[1]));
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//
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// Extract Euler angles from M, convert the Euler angles
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// back to a matrix, N, and verify that the entries in M
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// and N do not differ too much.
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//
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testMatrix (M);
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debug (("\n"));
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}
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}
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void
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testAngles33 (float angle)
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{
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M33f M;
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M.setRotation (rad (angle));
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//
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// With rounding errors from e.toMatrix.
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//
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testMatrix (M);
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//
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// Without rounding errors (assuming that
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// all angles are multiples of 90 degrees).
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//
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for (int i = 0; i < 2; ++i)
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for (int j = 0; j < 2; ++j)
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if (M[i][j] < -0.5)
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M[i][j] = -1;
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else if (M[i][j] > 0.5)
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M[i][j] = 1;
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else
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M[i][j] = 0;
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testMatrix (M);
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}
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void
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testMatrix (const M44f M)
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{
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//
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// Extract Euler angles from M, and convert the
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// Euler angles back to a matrix, N.
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//
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V3f s, h, r, t;
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extractSHRT (M, s, h, r, t, true);
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M44f N;
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N.translate (t); // ... matrix compositions
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N.rotate (r);
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N.shear (h);
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N.scale (s);
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debug (("Re-scale: %f %f %f\n", s[0], s[1], s[2]));
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debug (("Re-shear: %f %f %f\n", h[0], h[1], h[2]));
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debug (("Re-rot : %f %f %f\n", r[0], r[1], r[2]));
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debug (("Re-trans: %f %f %f\n", t[0], t[1], t[2]));
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//
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// Verify that the entries in M and N do not
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// differ too much.
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//
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M44f D (M - N);
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for (int j = 0; j < 4; ++j)
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{
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for (int k = 0; k < 4; ++k)
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{
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if (abs (D[j][k]) > 0.00001)
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{
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cout << "unexpectedly large matrix to "
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"euler angles conversion error: " <<
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D[j][k] << endl;
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cout << j << " " << k << endl;
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cout << "M\n" << M << endl;
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cout << "N\n" << N << endl;
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cout << "D\n" << D << endl;
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assert (false);
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}
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}
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}
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}
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void
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testRandomAngles44 ()
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{
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Rand48 random(0);
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for (int i = 0; i < 100000; ++i)
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{
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debug (("iteration: %d\n", i));
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M44f M;
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//
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// Translate M.
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//
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V3f t (random.nextf (-10, 10),
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random.nextf (-10, 10),
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random.nextf (-10, 10));
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M.translate (t);
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//
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// Rotate M.
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//
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V3f r (rad (random.nextf (-180, 180)),
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rad (random.nextf (-180, 180)),
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rad (random.nextf (-180, 180)));
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M.rotate (r);
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//
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// Shear M.
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//
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V3f h (random.nextf (0.000001, 2.0),
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random.nextf (0.000001, 2.0),
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random.nextf (0.000001, 2.0));
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for (int j=0; j < 3; j++)
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if (random.nextf (0.0, 1.0) >= 0.5)
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h[j] *= -1;
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M.shear (h);
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//
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// Scale M.
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//
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V3f s (random.nextf (0.000001, 2.0),
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random.nextf (0.000001, 2.0),
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random.nextf (0.000001, 2.0));
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for (int j=0; j < 3; j++)
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if (random.nextf (0.0, 1.0) >= 0.5)
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s[j] *= -1;
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M.scale (s);
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//
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// Add a small random error to the elements of M
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//
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for (int j = 0; j < 4; ++j)
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for (int k = 0; k < 3; ++k)
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M[j][k] += random.nextf (-1e-7, 1e-7);
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debug (("Scale : %f %f %f\n", s[0], s[1], s[2]));
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debug (("Shear : %f %f %f\n", h[0], h[1], h[2]));
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debug (("Rot : %f %f %f\n", r[0], r[1], r[2]));
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debug (("Trans : %f %f %f\n", t[0], t[1], t[2]));
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//
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// Extract Euler angles from M, convert the Euler angles
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// back to a matrix, N, and verify that the entries in M
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// and N do not differ too much.
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//
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testMatrix (M);
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debug (("\n"));
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}
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}
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void
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testAngles44 (V3f angles)
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{
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Eulerf e (rad (angles.x),
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rad (angles.y),
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rad (angles.z));
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M44f M (e.toMatrix44());
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//
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// With rounding errors from e.toMatrix.
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//
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testMatrix (M);
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//
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// Without rounding errors (assuming that
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// all angles are multiples of 90 degrees).
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//
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for (int i = 0; i < 3; ++i)
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for (int j = 0; j < 3; ++j)
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if (M[i][j] < -0.5)
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M[i][j] = -1;
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else if (M[i][j] > 0.5)
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M[i][j] = 1;
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else
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M[i][j] = 0;
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testMatrix (M);
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}
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void
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test ()
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{
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cout << " random angles" << endl;
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cout << " 3x3" << endl;
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testRandomAngles33 ();
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cout << " 4x4" << endl;
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testRandomAngles44 ();
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cout << " special angles" << endl;
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cout << " 3x3" << endl;
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|
|
for (int i = 0; i < 360; i += 90)
|
||
|
|
testAngles33 (float (i));
|
||
|
|
|
||
|
|
cout << " 4x4" << endl;
|
||
|
|
for (int i = 0; i < 360; i += 90)
|
||
|
|
for (int j = 0; j < 360; j += 90)
|
||
|
|
for (int k = 0; k < 360; k += 90)
|
||
|
|
testAngles44 (V3f (i, j, k));
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
} // namespace
|
||
|
|
|
||
|
|
|
||
|
|
void
|
||
|
|
testExtractSHRT ()
|
||
|
|
{
|
||
|
|
try
|
||
|
|
{
|
||
|
|
cout << "Testing extraction of scale, shear, rotation, translation "
|
||
|
|
<< "from matrices" << endl;
|
||
|
|
|
||
|
|
cout << "Imath::extractSHRT()" << endl;
|
||
|
|
test ();
|
||
|
|
|
||
|
|
cout << "ok\n" << endl;
|
||
|
|
}
|
||
|
|
catch (std::exception &e)
|
||
|
|
{
|
||
|
|
cerr << " Caught exception: " << e.what () << endl;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|